CN111904597A

CN111904597A - Lightweight surgical robot

Info

Publication number: CN111904597A
Application number: CN202010791410.8A
Authority: CN
Inventors: 孙胜波; 曹海莲; 马波; 和题; 朱东东; 谢探一
Original assignee: Shandong Weray Surgical Medical Products Co ltd
Current assignee: Shandong Weray Surgical Medical Products Co ltd
Priority date: 2020-08-07
Filing date: 2020-08-07
Publication date: 2020-11-10

Abstract

The invention discloses a light-weight surgical robot, which comprises an operating bed, an execution part arranged on the operating bed, an instrument part detachably arranged at the tail end of the execution part, a handheld part for a doctor to hold and a control part, wherein the instrument part is arranged at the tail end of the execution part; during surgery, a doctor triggers the handheld part as required, the handheld part sends a finger action instruction to the control part, and the control part controls the execution part to drive the instrument part to execute corresponding actions according to the finger action instruction, so that the instrument part is used for performing surgical operation on a patient. The arrangement of the handheld part can enable a doctor to flexibly operate the handheld part on the side face of the operating bed so as to enable the instrument part to execute corresponding actions, the doctor can conveniently and accurately master the conditions of the instrument, an assistant and a patient, the action precision of the instrument part can be improved, and the safety and reliability of the operation can be guaranteed.

Description

Lightweight surgical robot

Technical Field

The invention relates to the field of medical instruments, in particular to a light-weight surgical robot.

Background

The minimally invasive surgery has the advantages of small wound, light pain and quick recovery, and is widely applied to various departments, but the traditional minimally invasive surgery has higher requirements on the operation level of doctors, and the labor intensity of the doctors is very easy to be overlarge. The existing surgical robot has a complex structure and a high failure rate, so that a light-weight surgical robot with a simple structure is designed.

Taking a da vinci surgical machine as an example, an existing light-weight surgical robot is generally provided with a console, an operating table and a mechanical arm, a doctor performs a surgical operation on a patient lying on the operating table through the mechanical arm controlled by the console, the existing mechanical arm is arranged close to the operating table, the console occupies a large space, so that the distance between the console and the operating table is too far, the doctor can only observe an operation state through the console, the operation state is difficult to be observed by naked eyes at a close distance, image identification information generally has a certain degree of precision error, the operation precision is influenced, and further the operation safety is threatened.

Disclosure of Invention

In view of the above, an object of the present invention is to provide a light-weight surgical robot, which enables a surgeon to observe and manipulate an instrument part in a short distance by means of a hand-held part, and which is high in surgical accuracy and safer in surgery.

The present invention provides a light-weight surgical robot, including:

an operating bed;

an execution part arranged on the operating bed;

an instrument part detachably arranged at the tail end of the execution part;

a hand-held part for holding a doctor;

the control part is respectively electrically connected with the operating bed, the execution part, the instrument part and the handheld part, and the control part is used for controlling the execution part to drive the instrument part to execute corresponding actions according to finger action instructions fed back by the handheld part on the side surface of the operating bed.

Preferably, the method further comprises the following steps:

the supporting frame is arranged beside the operating bed and used for supporting the handheld part;

a supporting part which is arranged on the supporting frame, is connected with the control part and is used for supporting the arm; the control part is used for controlling the execution part to drive the instrument part to move according to the arm action instruction fed back by the supporting part and the finger action instruction.

Preferably, the surgical bed further comprises a mechanical arm which is arranged on the surgical bed and used for supporting the execution part; the mechanical arm is provided with an electric permanent magnet seat; the electric permanent magnet seat is connected with the control part, the control part is used for controlling the electric permanent magnet seat to be electrified according to an instrument installation instruction fed back by the handheld part so that the execution part is fixed on the electric permanent magnet seat in an adsorption mode through magnetic attraction, and the control part is also used for controlling the electric permanent magnet seat to be electrified according to an instrument disassembly instruction fed back by the handheld part so that the execution part is separated from the electric permanent magnet seat after the magnetic attraction of the electric permanent magnet seat disappears.

Preferably, the double-phase contralateral of operation table is equipped with articulated seat, and the arm links to each other with articulated seat, and articulated seat links to each other with the control part, and the control part is used for driving the arm to rotate so that the arm passes through the portion of execution and drives the swing of apparatus portion for the operation table according to the rotatory swing instruction control articulated seat of handheld portion feedback.

Preferably, still including locating the balancing weight of articulated seat, the balancing weight links to each other with the arm in order to compensate the gravity of arm.

Preferably, the mechanical arm comprises two telescopic columns which are symmetrically arranged on two sides of the operating table respectively, the two telescopic columns are connected with the control part, and the control part is used for controlling the two telescopic columns to be synchronously telescopic according to a height adjusting instruction fed back by the handheld part so that the mechanical arm can adjust the height of the instrument part through the execution part.

Preferably, the two opposite sides of the operating table are provided with sliding seats, the hinged seat is arranged on the sliding seat, the sliding seat is connected with the control part, and the control part is used for controlling the sliding seat to drive the mechanical arm to slide along a sliding groove arranged on the side face of the operating table according to a sliding adjusting instruction fed back by the handheld part so that the mechanical arm drives the instrument part to slide through the execution part.

Preferably, the control part is used for controlling the execution part to drive the instrument part to execute the clamping action according to the instrument clamping instruction fed back by the handheld part, controlling the execution part to drive the instrument part to execute the rotating action according to the instrument rotating instruction fed back by the handheld part, and controlling the execution part to drive the instrument part to execute the cutting action according to the instrument cutting instruction fed back by the handheld part.

Preferably, the hand-held part comprises a feedback force detection piece for detecting the feedback force of the finger, the feedback force detection piece is connected with the control part, and the control part is used for adjusting the clamping force of the instrument part through the execution part according to a force feedback instruction sent by the force feedback detection piece.

Preferably, the system also comprises a user identity detection piece used for identifying the identity of the login user, the user identity detection piece is connected with the control part, and the control part is used for correspondingly calling the stored user login mode according to a user login instruction sent by the user identity detection piece.

Preferably, the robot further comprises a distance detection piece connected with the control part and used for detecting the distance between the instrument part and the obstacle, and the control part is used for controlling the execution part to stop operating when the distance between the instrument part and the obstacle reaches a preset distance according to a signal sent by the distance detection piece.

Preferably, the safety device further comprises an alarm and a safety position detection piece, wherein the alarm is respectively connected with the control part, the safety position detection piece is used for detecting whether the instrument part is in a safety area, and the control part is used for starting the alarm to give an alarm when the instrument part exceeds the safety area according to a signal sent by the safety position detection piece.

Preferably, the puncture device further comprises a dragging force detection piece connected with the controller and used for detecting the current dragging force of the puncture device insertion hole, and the controller is used for controlling the execution part to adjust the insertion angle of the instrument part according to a signal sent by the dragging force detection piece when the current dragging force reaches the preset dragging force, so that the current dragging force is smaller than the preset dragging force.

Preferably, the executing part is directly connected with the handheld part.

Compared with the background art, the light-weight surgical robot provided by the invention comprises an operating bed, an executing part, an instrument part, a handheld part and a control part. During surgery, a doctor triggers the handheld part as required, the handheld part sends a finger action instruction to the control part, and the control part controls the execution part to drive the instrument part to execute corresponding actions according to the finger action instruction, so that the instrument part is used for performing surgical operation on a patient. The setting of handheld portion can make the doctor control handheld portion in a flexible way so that apparatus portion carries out corresponding action in the side of operation table, makes things convenient for the doctor to closely observe apparatus portion action by naked eye, avoids remote observation or control apparatus portion, reduces the risk that apparatus portion takes place the malfunction, is favorable to promoting the action precision of apparatus portion, guarantees operation safe and reliable.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a structural diagram of a lightweight surgical robot according to a first embodiment of the present invention;

FIG. 2 is an assembled view of the handle and the support portion of FIG. 1;

FIG. 3 is a block diagram of the hand held portion of FIG. 1;

FIG. 4 is a cross-sectional view of a firing button of the handpiece of FIG. 1;

FIG. 5 is a view showing the construction of the puncture instrument;

fig. 6 is a structural view of a surgical robot with reduced weight according to a second embodiment of the present invention.

The reference numbers are as follows:

the device comprises an operating bed 1, an execution part 2, an instrument part 3, a handheld part 4, a support frame 6, a supporting part 7, a mechanical arm 8, a display screen 9, a puncture outfit 10 and a dragging force detector 11;

a firing button 41, an adjusting component 42, an elastic piece 43, a displacement detection piece 44, a detection frame 45, a handle 46, a moving button 47, a thumb wheel switch 48 and a rocker type angle sensor 49;

an armature rod 421 and a stationary coil 422;

a rectangular frame 451 and a circular frame 452.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific examples.

Referring to fig. 1 to 5, fig. 1 is a structural diagram of a lightweight surgical robot according to a first embodiment of the present invention; FIG. 2 is an assembled view of the handle and the support portion of FIG. 1; FIG. 3 is a block diagram of the hand held portion of FIG. 1; FIG. 4 is a cross-sectional view of a firing button of the handpiece of FIG. 1; fig. 5 is a structural view of the puncture instrument.

The embodiment of the invention discloses a light-weight surgical robot, which comprises an operating bed 1, an executing part 2, an instrument part 3, a handheld part 4 and a control part 5.

The operating bed 1 comprises a bed support and a bed board, the bed board is used for a patient to lie, the bed support is used for supporting the bed board, the bed support can be a lifting type bed support, and a doctor can conveniently and flexibly adjust the height of the bed board as required.

The execution part 2 is arranged on the operating table 1 and is used for driving the instrument part 3 to move. The executing part 2 is internally provided with a driving motor, a gear transmission part and other parts, the driving motor is connected with the control part 5, and the control part 5 controls the rotating speed and the rotating direction of the driving motor. The housing of the execution unit 2 has good sealing performance, and provides conditions for high-temperature and high-pressure sterilization of the execution unit 2.

The instrument part 3 is detachably arranged at the tail end of the execution part 2. The instrument part 3 can be an endoscope surgical instrument such as a anastomat, a grasper, a needle holder, an electrotome and the like, and a doctor can install the required instrument part 3 to the execution part 2 as required. The execution part 2 is fixedly connected with the instrument part 3 in a preferable mechanical clamping mode, and the mechanical clamping structure can refer to the prior art. The executing part 2 can drive the apparatus part 3 to realize the actions of left-right swinging, up-down swinging, clamping loosening, advancing and retreating, left-handed rotation and the like. The instrument portion 3 may be a disposable item, and after the operation, the surgeon may remove the instrument portion 3 after disconnecting the implement portion 2 from the handle portion 4. Specifically, the instrument unit 3 has nine degrees of freedom, such as forward and backward movement, opening and closing movement, upward and downward movement of the opening, leftward and rightward movement, rotational movement, upward and downward swinging, leftward and rightward swinging, forward and backward movement, and the like of the instrument unit 3.

The handheld part 4 is used for being held by a doctor, and the action of the mechanical device is conveniently controlled by the handheld part 4. The handheld part 4 is small in size and light in weight, and is convenient for doctors to transfer flexibly.

The control unit 5 is electrically connected to the operation table 1, the execution unit 2, the instrument unit 3, and the hand-held unit 4. The control unit 5 may be a CPU, MPU, MCU, FPGA, or the like, and is used for processing and storing signals. In order to improve the safety, the control part 5 preferably comprises a host and a slave, so that a dual-computer hot standby function is realized, the host and the slave adopt timing communication, the slave can only back up data when the host works normally, and the slave can also replace the host to process information when the host fails, so that data loss is prevented by using a safety redundancy measure, the interruption of an operation due to data loss is further prevented, and the operation safety is favorably improved. Further, the control section 5 may upload the stored data to the cloud database through the internet, further preventing data loss.

The control unit 5 incorporates a communication board, which may be a wired network card, a wireless network card, RS458 communication, USB communication, CAN bus, or the like, and the control unit 5 communicates with other components via the communication board. The hand-held unit 4, the execution unit 2, and the control unit 5 are preferably in wireless communication, and the wireless communication may be in a communication system such as bluetooth, uwb, zigbee, or WLAN, and is preferably in WLAN wireless communication. The communication interface of the control section 5 may be a WLAN or 5G network port, which provides conditions for long-distance transmission of signals, making the control section 5 suitable for remote medical treatment or remote monitoring.

During surgery, a doctor triggers the handheld part 4 as required, the handheld part 4 sends a finger action instruction to the control part 5, and the control part 5 controls the execution part 2 to drive the instrument part 3 to execute corresponding actions according to the finger action instruction, so that the instrument part 3 is used for performing surgical operation on a patient.

By the above, the arrangement of the handheld portion 4 can enable a doctor to flexibly operate the handheld portion 4 on the side face of the operating bed 1 so as to enable the instrument portion 3 to execute corresponding actions, the doctor can conveniently observe the action of the instrument portion 3 by naked eyes in a close range, the instrument portion 3 is prevented from being remotely observed or operated, the risk of misoperation of the instrument portion 3 is reduced, the action precision of the instrument portion 3 is favorably improved, and the operation is safe and reliable.

In the first embodiment, the present invention further comprises a support frame 6 and a support part 7, wherein the support frame 6 is located at the side of the operation table 1 and is used for supporting the handheld part 4. The support frame 6 can also be a telescopic support frame 6, so that a doctor can conveniently adjust the height of the support frame 6 according to the height of the doctor, and the height of the support frame 6 is in line with ergonomics. The supporting part 7 is arranged at the top of the supporting frame 6 and is used for supporting the hand of a doctor, thereby being beneficial to reducing the working strength of the doctor. The bearing part 7 comprises a bearing block with a bearing groove, and the bearing block is fixed at the top of the support frame 6. The blotter can be add in the support groove, and the blotter can be made by silica gel, avoids arm and support groove rigidity contact, is favorable to promoting the travelling comfort.

In order to accurately control the action of the mechanical part 3 of the part 5, the supporting part 7 is electrically connected with the control part 5, so that the control part 5 simultaneously controls the execution part 2 to drive the instrument part 3 to execute corresponding actions according to the arm action command fed back by the supporting part 7 and the finger action command fed back by the handheld part 4. For example, when the firing button of the handle 4 is pressed and the arm presses the supporting portion 7 with force, the handle 4 feeds back a firing command to the control portion 5 to enable the control portion 5 of the control portion 5 to clamp the tissue, and the supporting portion 7 feeds back a pressing command to the control portion 5 to control the clamping force of the instrument portion 3 to be increased. It should be noted that the finger motion command fed back by the hand-held part 4 is mainly used for the control part 5 to realize the main functions of clamping, rotating or shearing, etc. of the mechanical part 3, and the arm motion command fed back by the support part 7 is mainly used for the control part 5 to realize the auxiliary functions of swinging in a small range, increasing or decreasing the clamping force or lifting the bed body, etc. of the mechanical part 3.

The invention further comprises a mechanical arm 8 arranged on the operating table 1, wherein the mechanical arm 8 is used for supporting the executing part 2. The mechanical arm 8 is provided with an electric permanent magnet seat which is connected with the control part 5. When an instrument installation instruction fed back by the handheld part 4 is sent to the control part 5, the control part 5 controls the electric permanent magnet seat to be electrified, so that the execution part 2 is fixed on the electric permanent magnet seat in an adsorption mode through magnetic attraction; when an instrument disassembly instruction fed back by the handheld part 4 is sent to the control part 5, the control part 5 controls the electric permanent magnet seat to lose power, so that the execution part 2 is separated from the electric permanent magnet seat after the magnetic attraction of the electric permanent magnet seat disappears; make things convenient for dismouting execution portion 2, make things convenient for execution portion 2 to realize quick disinfection, or conveniently realize quick replacement apparatus portion 3. Of course, the manner of mounting the actuator 2 is not limited to this. It should be noted that, the hand-held part 4 is provided with a dismounting button, and when the dismounting button is pressed, the hand-held part 4 sends an instrument dismounting instruction to the control part 5; in contrast, the hand-held portion 4 continuously sends an instrument installation command to the control portion 5, so that the execution portion 2 remains fixed on the electromagnetic base. The removal button may be a resilient button.

In this embodiment, arm 8 includes the hoist and mount crossbeam, electric permanent magnet seat slidable locates on the hoist and mount crossbeam, the hoist and mount crossbeam is equipped with the horizontal driving cylinder that links to each other with electric permanent magnet seat, horizontal driving cylinder is connected with 5 electricity of control part, horizontal shift button can be add to handheld portion 4, when pressing horizontal shift button down, it sends horizontal movement instruction to control part 5 to hand, control part 5 starts horizontal driving cylinder and stretches out and draws back, make horizontal driving cylinder drive electric permanent magnet seat along hoist and mount crossbeam automatically sliding to the target location, conveniently adjust the position of execution part 2. Considering the reliability, can add the sticking department between hoist and mount crossbeam and electric permanent magnet seat, when electric permanent magnet seat slides to the target location, control portion 5 control locking department locks electric permanent magnet seat to hoist and mount crossbeam on, prevents that electric permanent magnet seat from operating the in-process malfunction, is favorable to promoting operation security, and the sticking department can include locking lever and lockhole, and prior art can be referred to specific structure and theory of operation. Of course, the object of the invention can still be achieved by fixing the electro-permanent magnet holder directly to the robot arm 8. In order to limit the installation position of the execution part 2, the electric permanent magnet seat is provided with a positioning column, so that the execution part 2 can be conveniently and quickly assembled and disassembled.

The mechanical arm 8 and the executing part 2 are formed by processing carbon fibers, so that the advantages of light weight, small elastic modulus and the like are met, the quick assembly and disassembly are convenient, and the shortening of the operation time is facilitated. The lightweight setting of arm 8 and execution portion 2 makes things convenient for the doctor to add a plurality of arms 8 or execution portion 2 according to the operation demand, avoids the restriction of integral type surgical robot, uses more in a flexible way.

Two opposite sides of operation table 1 are equipped with articulated seat, and arm 8 links to each other with articulated seat, and articulated seat is connected with 5 electricity of control portion, feeds back rotatory swing instruction to control portion 5 when handheld portion 4, and control portion 5 control is articulated to be taken turns, and articulated seat drives arm 8 and rotates for operation table 1, makes arm 8 drive the swing of apparatus portion 3 through execution portion 2, the position of accurate limited apparatus portion 3. The maximum flip angle of the instrument portion 3 is 180 degrees. The hand-held portion 4 may be additionally provided with a rotation button, and when the rotation button is rotated, the hand-held portion 4 sends a feedback rotation swing instruction to the control portion 5.

The invention also comprises a balancing weight arranged on the hinged seat, and the balancing weight is connected with the mechanical arm 8, so that the gravity of the mechanical arm 8 is compensated by using the balancing weight, and the mechanical arm 8 is prevented from being too low in precision due to too large load. The number of the robot arms 8 may be one or more, but not more than four at most.

The arm 8 still includes two flexible posts of locating operation table 1 both sides respectively the symmetry, and two flexible posts link to each other with control portion 5, and when handheld portion 4 feedback height adjustment instruction to control portion 5, control portion 5 control two flexible posts are flexible in step, make arm 8 pass through the height that the apparatus portion 3 was adjusted to execution portion 2, further inject the position of apparatus portion 3. The handheld portion 4 may be additionally provided with a height adjustment button, and when the height adjustment button is pressed, the height adjustment button sends a height adjustment instruction to the control portion 5.

Furthermore, sliding seats are arranged on two sides of the operating bed 1, the hinged seat on each side is connected to the sliding seat arranged on the same side, the sliding seat is connected with the control part 5, when a sliding adjustment instruction fed back by the handheld part 4 is sent to the control part 5, the control part 5 controls the sliding seat to slide along a sliding groove arranged on the side surface of the operating bed 1, and the sliding seat drives the instrument part 3 to slide to a target position relative to the operating bed 1 through the execution part 2. The sliding seat can be a hydraulic cylinder or a servo motor provided with a lead screw nut pair. Accordingly, the hand-held portion 4 is provided with a slide adjusting button, and when the slide adjusting button is pressed, the hand-held portion 4 sends a slide adjusting instruction to the control portion 5. The sliding seat and the hinge seat can be connected by bolts, but are not limited to the above.

The arrangement of the transverse driving cylinder, the hinging seat, the telescopic column and the sliding seat is convenient for a doctor to automatically adjust the instrument part 3 according to the operation position of a patient before an operation, and the position of the instrument part 3 can be automatically adjusted conveniently in the operation process.

In addition, when the handheld part 4 sends an instrument clamping instruction to the control part 5, the control part 5 controls the execution part 2 to drive the instrument part 3 to execute a clamping action; when the handheld part 4 sends an instrument rotation instruction to the control part 5, the control part 5 controls the execution part 2 to drive the instrument part 3 to execute rotation; when the hand-held part 4 sends an instrument cutting command to the control part 5, the control part 5 drives the instrument part 3 to perform a cutting action by the execution part 2. Correspondingly, the hand-held part 4 is provided with a firing button for generating an instrument clamping instruction, an instrument rotation button for generating an instrument rotation instruction, and an instrument cutting button for generating an instrument cutting instruction.

For promoting the operation precision, handheld portion 4 is equipped with the feedback force detection piece that is used for detecting finger feedback force, feedback force detection piece links to each other with control portion 5, send power feedback instruction to control portion 5 when power feedback detection piece, control portion 5 adjusts the clamping-force of apparatus portion 3 through execution portion 2, make things convenient for the doctor to adjust the clamping-force of apparatus portion 3 as required automatically in the operation process, make the clamping-force appropriate, avoid too big clamping-force to press from both sides wounded tissue, guarantee operation safety. The feedback force detecting member may be a force detecting sensor.

The invention also comprises a user identity detection piece for identifying the identity of the login user, the user identity detection piece is connected with the control part 5, when the user identity detection piece sends a user login instruction to the control part 5, the control part 5 calls the stored user login mode, so that different login users automatically enter the corresponding user login modes, the login users can conveniently and quickly look up the patient information, and meanwhile, the patient information can be conveniently kept secret. The user identity detection piece can be identified by iris, fingerprint, face or RAID card swiping identification and other non-contact modes, the login user identity can be an engineer, a doctor or a nurse, taking the doctor as an example, and the doctor login mode correspondingly displays information such as clamping force, cutting force, current magnitude, pose or using times of the instrument portion 3. Further, taking an engineer as an example, the engineer login mode corresponds to information such as factory information, standard parameters, production lot, or service life of the instrument unit 3.

A patient database used for storing patient information is arranged in the control part 5, a doctor stores a patient information table of each patient to the patient database before an operation, and the doctor can input the identity information of the patient to the control part 5 in the modes of voice, a touch screen, a mouse keyboard and the like during the operation, so that the doctor can call the patient information table corresponding to the identity information of the patient from the patient database in real time conveniently, and the patient information table can be modified in real time as required during the operation. The patient information table may include CT test results or ultrasound test results of the patient. The doctor can call the patient information table by means of voice, a touch screen, a mouse, a keyboard and the like, and correspondingly, a voice recognizer connected with the control part 5 for collecting voice information of the doctor or a touch screen connected with the control part for collecting call information input by the doctor can be additionally arranged.

The invention also comprises a CT identification piece and a display screen 9 which are used for identifying the CT detection result in the patient information table, and the CT identification piece and the display screen 9 are both connected with the control part 5. When the CT identification piece identifies the CT detection result in the patient information table, the CT identification piece sends a signal to the control part 5, and the control part 5 controls the display brightness of the display screen 9, so that a doctor can conveniently and accurately check the CT detection result. The CT identifier may be an image recognition device, and is not particularly limited herein.

The display screen 9 may be plural, and the plural display screens 9 display different information. The display screen 9 is preferably a touch screen, which may be a resistive touch or a capacitive touch screen. The display screen 9 is provided with interfaces such as GA, HDMI, DP, DPmini and the like, and the display screen 9 is also provided with a USB interface for externally connecting a keyboard, a mouse or a touch pad.

The invention also comprises a surgical state detection piece for detecting the surgical state of the instrument part 3, the surgical state detection piece is connected with the control part 5, and the control part 5 controls the display screen 9 to display the surgical state of the instrument part 3 in real time according to the information sent by the surgical state detection piece. The surgical status detector may be a camera, but is not limited thereto.

Handheld portion 4 is equipped with the fixed handle who is used for supplying the doctor to hand including fixed shell, fixed shell integral type, and all buttons are all installed on fixed shell, and fixed shell installs the rechargeable battery who is used for 4 independent power supplies of handheld portion, and fixed shell is equipped with the interface that charges that links to each other with rechargeable battery, and the interface that charges links to each other with external power supply. The interface that charges is equipped with and is used for state display screen 9, and state display screen 9 is used for showing information such as voltage, electric current, electric quantity of handheld portion 4, and state display screen 9 links to each other with control portion 5 through wireless communication mode.

The handheld part 4 also comprises a state indicator light for displaying the connection state of the execution part 2 and the instrument part 3, correspondingly, the invention also comprises an instrument connection state detection part for detecting the connection state of the execution part 2 and the instrument part 3, the state indicator light and the instrument connection state detection part are both connected with the control part 5, when the instrument connection state detection part detects that the execution part 2 and the instrument part 3 are not connected, the instrument connection state detection part sends a signal to the control part 5, and the control part 5 controls the state indicator light to emit red light; when the instrument connection state detection piece detects that the execution part 2 is connected with the instrument part 3, the instrument connection state detection piece sends a signal to the control part 5, and the control part 5 controls the state indicator lamp to emit green light. The status indicator light may be an LED light, and the instrument connection status detecting member may be a contact sensor or a pressure sensor, which is not particularly limited herein.

The handheld part 4 further comprises an execution connection state detection piece and a voice prompter, the execution connection state detection piece and the voice prompter are used for detecting the connection state of the handheld part 4 and the execution part 2, the execution connection state detection piece and the voice prompter are both connected with the control part 5, when the execution connection state detection piece detects that the handheld part 4 is connected with the execution part 2, the execution connection state detection piece sends a signal to the control part 5, and the control part 5 controls the voice prompter to promote the connection between the handheld part 4 of a doctor and the execution part 2. The execution connection state detection means may be a communication connection detection device.

The present invention further includes a distance detecting member connected to the control portion 5, the distance detecting member being used for detecting a distance between the instrument portion 3 and an obstacle, and the distance detecting member may be a distance detecting sensor or an obstacle detecting sensor, wherein the obstacle detecting sensor may be an obstacle sensor using a double-sided vision or magnetic positioning technology. For example, the marks are pasted on the mechanical arm 8 and the instrument part 3, the marks are in a universal coding form, the marks are connected with the control part 5, the control part 5 can conveniently identify the positions of the mechanical arm 8 and the instrument part 3 through the marks, and therefore the anti-collision is achieved.

The control part 5 controls the execution part 2 to stop acting when the distance between the instrument part 3 and the barrier reaches a preset distance according to the signal sent by the distance detection piece, so that the instrument part 3 is prevented from colliding with the barrier, the instrument part 3 is effectively prevented from colliding with the mechanical arm 8, the operating table 1 or external objects and the like, and the operation safety is favorably improved. The preset distance is a distance at which the instrument portion 3 and the obstacle are about to collide, and may be input to the control portion 5 in advance.

The handheld portion 4 is provided with a trigger button 41, the trigger button 41 comprises a trigger flange and a button body which are coaxially arranged, the trigger flange is connected with the button body in an integrated mode, and the cross sectional area of the trigger flange is larger than that of the button body. Specifically, the trigger flange and the button body are both cylindrical, and the outer diameter of the trigger flange is larger than that of the button body. The firing button 41 is slidably mounted to an adjustment assembly 42 for adjusting the firing force of the firing button 41. The adjustment assembly 42 may be a hydraulic cylinder, an air cylinder, a magnetic induction coil, or the like. The specific structure and operation of the adjustment assembly 42 can be referred to as follows. An elastic piece 43 is abutted between the firing button 41 and the adjusting component 42, and the elastic piece 43 is always kept in a compressed state to provide damping for the firing button 41. The elastic member 43 is sleeved on the button body, and is specifically a cylindrical spring. One end of the elastic piece 43 close to the firing button 41 is particularly abutted against the trigger flange.

In view of the operational accuracy of the adjustment assembly 42, the adjustment assembly 42 is of a magnetically inductive type and includes an armature shaft 421 and a stationary coil 422, with the armature shaft 421 slidably received over the firing button 41. The armature rod 421 has an abutment flange which abuts against the elastic member 43. An abutment flange is provided at the end of the armature stem 421 near the firing button 41, which in addition to abutting the resilient member 43 also serves to axially confine the armature stem 421. When the armature rod 421 moves a certain distance, the stop flange abuts against the left end of the fixed coil 422, so as to prevent the armature rod 421 from separating from the fixed coil 422.

The position of the stationary coil 422 is relatively fixed, allowing the armature rod 421 to slide axially relative to the stationary coil 422. The fixed coil 422 is sleeved on the periphery of the armature rod 421, the fixed coil 422 is connected with the control part 5, and the control part 5 adjusts the current of the fixed coil 422 according to a signal sent by the force detection piece, so that the magnetic induction intensity of the fixed coil 422 can be adjusted, the magnetic induction force of the fixed coil 422 is adjusted, the acting force applied to the armature rod 421 is adjusted, and the sliding distance of the armature rod 421 can be accurately adjusted according to the force detection piece.

Specifically, the fixed coil 422 is provided with a tapered groove, the armature rod 421 is integrally provided with a tapered block at the periphery thereof, and the tapered block is matched with the tapered groove, so that the length of the magnetic induction line of the fixed coil 422 is kept consistent, and the current flowing through the fixed coil 422 is ensured to be in a linear relation with the magnetic induction force, so that the control part 5 can accurately adjust the magnetic induction force applied to the armature rod 421 by adjusting the current flowing through the fixed coil 422, and provide a basis for stable sliding of the armature rod 421.

The displacement detector 44 is used for detecting the current moving distance of the firing button 41 and may be a displacement sensor. When the displacement detection part 44 detects the current moving distance of the trigger button 41, the displacement detection part 44 sends a signal to the control part 5, and the control part 5 controls the driving voltage and current of the main driving part according to the stored corresponding relation between the current moving distance of the trigger button 41 and the preset output driving force of the main driving part, so that the main driving part accurately outputs the corresponding driving force, thereby accurately controlling the tissue squeezing and cutting force of the nail bin assembly 3 according to the moving distance of the trigger button 1, the working precision is high, and the operation safety is further improved. The main driving member may be a servo motor or a dc motor for driving the instrument portion 3 to move.

In this embodiment, the hand-held portion 4 further includes a test frame 45 and a handle 46, and the test frame 45 includes a rectangular frame 451 and a circular frame 452 integrally connected.

The neutral of the rectangular frame 451 is provided with a detection rod, the front end of the handle 46 is slidably mounted on the detection rod, the detection rod can be additionally provided with a translation detection piece for detecting the front-back translation distance of the handle, and the translation detection piece is connected with the control part 5, so that the controller 5 controls the execution part 2 to slide along the mechanical arm 8 according to a signal sent by the translation detection piece, and the instrument part 3 is controlled to move up and down. The translation detecting member may be a displacement sensor, but is not limited thereto.

The annular frame 452 is slidably disposed on the support frame 6, and the annular frame 452 slides relative to the support frame 6 along a vertical direction along with an acting force applied by the wrist. A return spring for assisting the return of the circular frame 452 may be provided between the circular frame 452 and the supporting frame 6. The present invention may further include a pressing distance detector for detecting a moving distance of the circular frame 452, the pressing distance detector is connected to the controller 5, and the pressing distance detector may be a displacement sensor, so that the controller controls the executing unit 2 to slide back and forth along the operating table 1 according to a signal sent by the pressing distance detector.

The handle 46 is provided with a firing button 41, and the jaws of the instrument portion 3 are controlled to open and close by pressing the firing button 41, so that the clamping action is automatically performed. The handle 46 is further provided with a moving button 47, and the moving button 47 is connected to the controller 5, so that the moving button 47 can be conveniently used for controlling the instrument portion 3 to perform a cutting anastomosis action. The handle 46 is provided with a thumbwheel switch 48, and the thumbwheel switch 48 is also connected to the controller 5 so that the instrument portion 3 can be controlled to rotate clockwise or counterclockwise by the thumbwheel switch 48.

The handle 46 is further provided with a rocker type angle sensor 49 connected to the controller 5, and the rocker type angle sensor 49 is used for detecting the swing angle of the rocker, so that the controller 5 controls the opening size of the jaw of the instrument portion 3 according to the signal sent by the rocker type angle sensor 49.

Of course, a swing sensor may be additionally provided on the detection rod of the rectangular frame 451, and the swing sensor is connected to the controller 5, and is used to detect the swing angle of the handle, so that the controller 5 controls the relative swing angle of the mechanical arm 8 according to the signal sent by the swing sensor, thereby adjusting the working angle of the instrument portion 3.

The invention also comprises an alarm and a safety position detection piece for detecting whether the instrument part 3 is in the safety area, wherein the alarm and the safety position detection piece are both connected with the control part 5, and the control part 5 starts the alarm to give an alarm when the instrument part 3 exceeds the safety area according to a signal sent by the safety position detection piece so as to remind a doctor to stop an operation and prevent the instrument device from mistakenly operating to hurt a patient. The safety position detection may be a limit switch, a displacement sensor, a camera, or the like, and is not particularly limited herein. Of course, the setting of the safety area may be performed according to a path planning method, an electronic fence, or the like, and when the instrument portion 3 once exceeds the safety area defined by the electronic fence, the control portion 5 controls the execution portion 2 to stop operation when the instrument portion 3 once exceeds the safety area defined by the electronic fence according to a signal transmitted by the electronic fence. Alternatively, the motion path of the instrument unit 3 is fed back to the control unit 5 in real time, and when the actual path of the instrument unit 3 exceeds the motion path pre-stored in the control unit 5, the control unit 5 controls the execution unit 2 to stop operating.

The present invention further comprises a pulling force detector 11 connected to the controller 5, the pulling force detector 11 being adapted to detect the current pulling force of the puncture instrument 10 inserted into the hole. The pulling force detector 11 is disposed inside the insertion hole of the puncture instrument and is distributed in a circular ring shape. The pulling force detecting member 11 may be a pressure sensor, but is not limited thereto.

When the current power of dragging reaches and predetermines the power of dragging, controller 5 utilizes the 2 insertion angles of 2 adjustment apparatus portions of execution portion 3 according to the signal control execution portion 2 actions that the power of dragging detection piece 11 sent, makes the current power of dragging be less than predetermines the power of dragging, avoids apparatus portion 3 to stab the dirty or tissue of ware because of too big power of dragging, is favorable to promoting the operation security.

Referring to fig. 6, fig. 6 is a structural diagram of a light-weight surgical robot according to a second embodiment of the present invention.

Compared with the first embodiment, the second embodiment has the executing part 2 connected to the hand-held part 4 in a straight line, so that the surgeon can directly and manually operate the instrument part 3 to perform the operation, and the purpose of the invention can still be achieved.

The lightweight surgical robot provided by the present invention is described in detail above, and the principle and the embodiment of the present invention are explained herein by applying specific examples, and the description of the above examples is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A lightweight surgical robot, comprising:

an operating bed (1);

an execution unit (2) provided in the operating bed (1);

an instrument part (3) detachably arranged at the tail end of the execution part (2);

a hand-held part (4) for holding a doctor;

respectively with operation table (1), execution portion (2) apparatus portion (3) and control unit (5) that handheld portion (4) electricity is connected, control unit (5) are used for the basis finger action instruction that handheld portion (4) feedback is in operation table (1) side control execution portion (2) drive apparatus portion (3) are pressed finger action instruction carries out corresponding action.

2. The lightweight surgical robot of claim 1, further comprising:

the supporting frame (6) is arranged beside the operating bed (1) and used for supporting the handheld part (4);

a bearing part (7) which is arranged on the support frame (6), is connected with the control part (5) and is used for supporting the arm; the control part (5) is used for controlling the execution part (2) to drive the instrument part (3) to move according to the arm action instruction fed back by the bearing part (7) and the finger action instruction.

3. The lightweight surgical robot according to claim 1, further comprising a robot arm (8) provided in the operating bed (1) and supporting the actuator (2); the mechanical arm (8) is provided with an electric permanent magnet seat; the electric permanent magnet seat is connected with the control part (5), the control part (5) is used for controlling the electric permanent magnet seat according to an instrument installation instruction fed back by the handheld part (4) to be electrified so that the execution part (2) is fixed on the electric permanent magnet seat in an adsorption mode through magnetic attraction, and the electric permanent magnet seat is also used for controlling the electric permanent magnet seat to lose electricity so that the execution part (2) is separated from the electric permanent magnet seat after the magnetic attraction of the electric permanent magnet seat disappears according to an instrument disassembly instruction fed back by the handheld part (4).

4. The lightweight surgical robot according to claim 3, wherein a hinged seat is provided on a side surface of the operating bed (1), the mechanical arm (8) is connected to the hinged seat, the hinged seat is connected to the control unit (5), and the control unit (5) is configured to control the hinged seat to drive the mechanical arm (8) to rotate relative to the operating bed (1) according to the rotation swing instruction fed back by the handheld unit (4) so that the mechanical arm (8) drives the instrument unit (3) to swing through the execution unit (2).

5. The surgical robot of claim 4, further comprising a weight block disposed on the hinged seat, wherein the weight block is connected to the mechanical arm (8) to compensate for the weight of the mechanical arm (8).

6. The light-weight surgical robot according to claim 4, wherein the mechanical arm (8) comprises two telescopic columns respectively symmetrically arranged on two sides of the operating bed (1), the two telescopic columns are connected with the control part (5), and the control part (5) is used for controlling the two telescopic columns to synchronously extend and retract according to a height adjusting instruction fed back by the handheld part (4) so that the mechanical arm (8) can adjust the height of the instrument part (3) through the execution part (2).

7. The light-weight surgical robot according to claim 4, wherein sliding seats are disposed on two opposite sides of the operating table (1), the hinged seats are disposed on the sliding seats, the sliding seats are connected to the control unit (5), and the control unit (5) is configured to control the sliding seats to drive the mechanical arm (8) to slide along a sliding groove disposed on a side surface of the operating table (1) according to a sliding adjustment command fed back by the handheld unit (4), so that the mechanical arm (8) drives the instrument unit (3) to slide through the execution unit (2).

8. The lightweight surgical robot according to any one of claims 4 to 6, wherein the control unit (5) is configured to control the execution unit (2) to drive the instrument unit (3) to perform the clamping operation according to an instrument clamping command fed back by the handheld unit (4), and is further configured to control the execution unit (2) to drive the instrument unit (3) to perform the rotating operation according to an instrument rotating command fed back by the handheld unit (4), and is further configured to control the execution unit (2) to drive the instrument unit (3) to perform the cutting operation according to an instrument cutting command fed back by the handheld unit (4).

9. The surgical robot according to any one of claims 4 to 6, wherein the hand-held portion (4) includes a feedback force detector for detecting a feedback force of a finger, the feedback force detector being connected to the control portion (5), and the control portion (5) being configured to adjust the gripping force of the instrument portion (3) by the actuator portion (2) in accordance with a force feedback command sent from the feedback force detector.

10. The lightweight surgical robot according to any one of claims 4 to 6, further comprising a user identity detection piece for identifying the identity of a logged-in user, wherein the user identity detection piece is connected to the control unit (5), and the control unit (5) is configured to invoke the stored user login mode in response to a user login instruction sent by the user identity detection piece.

11. The surgical robot according to any one of claims 4 to 6, further comprising a distance detector connected to the control unit (5) and configured to detect a distance between the instrument unit (3) and an obstacle, wherein the control unit (5) is configured to control the actuator unit (2) to stop operating when the distance between the instrument unit (3) and the obstacle reaches a predetermined distance based on a signal transmitted from the distance detector.

12. The surgical robot according to any one of claims 4 to 6, further comprising an alarm and a safety position detector respectively connected to the control unit (5), wherein the control unit (5) is configured to activate the alarm to alarm when the instrument unit (3) exceeds a safety zone according to a signal from the safety position detector.

13. The lightweight surgical robot according to any one of claims 4 to 6, further comprising a pulling force detector (11) connected to the controller (5) and configured to detect a current pulling force applied to an insertion hole of the puncture instrument (10), wherein the controller (5) is configured to control the actuator (2) to adjust the insertion angle of the instrument portion (3) so that the current pulling force is smaller than a preset pulling force when the current pulling force reaches the preset pulling force according to a signal sent by the pulling force detector (11).

14. The surgical robot according to any one of claims 1 to 13, wherein the implement portion (2) is directly connected to the hand-held portion (4).